Commitments and Contingencies (Tables)

12 Months Ended

Dec. 31, 2016

Commitments and Contingencies Disclosure [Abstract]

Future Minimum Lease Payments Under Noncancelable Operating Leases

Future minimum lease payments under non-cancellable operating leases at December 31, 2016, are as follows (in thousands):

	Operating Leases
Year ending December 31,
2017	$	12,971
2018	12,361
2019	10,631
2020	7,407
2021	2,020
Thereafter	7,923
Total minimum payments	$	53,313

Summary of Warranty Accrual Included in Accrued Liabilities

Activities for the Company’s warranty accrual for each fiscal year, which is included in accrued and other current liabilities, is summarized below (in thousands):

	2016			2015			2014
Balance at beginning of period	$	3,913		$	4,242		$	3,606
Accrual for current period warranties	5,655			5,470			7,278
Balance assumed from TVN acquisition	1,012			—			—
Changes in liability related to pre-existing warranties	(173		)	(92		)	3
Warranty costs incurred	(5,545		)	(5,707		)	(6,645		)
Balance at end of period	$	4,862		$	3,913		$	4,242